US3631542A - Myoelectric brace - Google Patents

Myoelectric brace Download PDF

Info

Publication number
US3631542A
US3631542A US848919A US3631542DA US3631542A US 3631542 A US3631542 A US 3631542A US 848919 A US848919 A US 848919A US 3631542D A US3631542D A US 3631542DA US 3631542 A US3631542 A US 3631542A
Authority
US
United States
Prior art keywords
muscle
actuator
finger support
motor
causes
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
US848919A
Inventor
Allan G Potter
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Iowa State University Research Foundation ISURF
Original Assignee
Iowa State University Research Foundation ISURF
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Iowa State University Research Foundation ISURF filed Critical Iowa State University Research Foundation ISURF
Application granted granted Critical
Publication of US3631542A publication Critical patent/US3631542A/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Images

Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61FFILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50Prostheses not implantable in the body
    • A61F2/68Operating or control means
    • A61F2/70Operating or control means electrical
    • A61F2/72Bioelectric control, e.g. myoelectric
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61FFILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50Prostheses not implantable in the body
    • A61F2/68Operating or control means
    • A61F2/74Operating or control means fluid, i.e. hydraulic or pneumatic
    • A61F2/741Operating or control means fluid, i.e. hydraulic or pneumatic using powered actuators, e.g. stepper motors or solenoids
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61FFILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50Prostheses not implantable in the body
    • A61F2/68Operating or control means
    • A61F2/74Operating or control means fluid, i.e. hydraulic or pneumatic
    • A61F2/748Valve systems
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61FFILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
    • A61F5/01Orthopaedic devices, e.g. splints, casts or braces
    • A61F5/0102Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
    • A61F5/013Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations for the arms, hands or fingers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/0006Exoskeletons, i.e. resembling a human figure
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61FFILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50Prostheses not implantable in the body
    • A61F2/68Operating or control means
    • A61F2/74Operating or control means fluid, i.e. hydraulic or pneumatic
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61FFILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50Prostheses not implantable in the body
    • A61F2002/5072Prostheses not implantable in the body having spring elements
    • A61F2002/5073Helical springs, e.g. having at least one helical spring
    • A61F2002/5075Multiple spring systems including two or more helical springs
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61FFILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50Prostheses not implantable in the body
    • A61F2/68Operating or control means
    • A61F2/70Operating or control means electrical
    • A61F2002/701Operating or control means electrical operated by electrically controlled means, e.g. solenoids or torque motors

Definitions

  • a myoelectric brace consisting of a fixed wristband splint portion having a movable finger support portion pivotally secured thereto which is operated by a hydraulic actuator.
  • the actuator is hydraulically coupled to a pump which is driven by a battery powered, direct current motor.
  • Three skin electrodes are positioned on the patients arm and sense muscle potentials in the patients arm when the patient tenses a muscle in the immediate area of the skin electrodes. The resulting myo-potentials are then amplified by a muscle potential amplifier and are transformed into a slowly varying control signal by a detector circuit and a filter circuit.
  • the control signal enters a differential amplifier where it causes the motor to drive the hydraulic pump until a predetermined pressure is reached. Actuation of the hydraulic pump causes the hydraulic actuator to pivotally move the finger support towards the fixed splint portion.
  • the motor stops when the differential amplifier receives a signal from the pressure transducer equal in amplitude to the control signal. This causes the differential amplifier output signal to go to zero. Relaxation of the patients muscle causes the finger support to pivotally move away from the fixed splint portion.
  • SHEET 1 [IF 2 Arrow/945 MYOELECTRIC BRACE Electrically powered orthotic devices or braces for quadraplegic patients are convenient because the electrical power is readily available and is easily stored in the batteries which drive the electric motors on wheel chairs used by such patients. The utilization of other types of energy storage techniques by these patients requires the handling of another source of energy and thus, another set of operating conditions which is highly undesirable. In order to utilize the electrical energy stored in the wheel chair batteries to effectively power orthotic devices, one must optimize several conflicting requirements. First, both the weight and size of the bracemounted actuator must be small. Second, the response and control of the limb brace when driven by the actuator must be normal. Third, minimum size, weight, and power consumption is desired for the complete device.
  • a further object of this invention is to provide a myoelectric brace which is powered by a unique hydraulic system driven by a direct current battery operated motor.
  • a further object of this invention is to provide a myoelectric brace which is light weight.
  • a further object of this invention is to provide a myoelectric brace which has a minimum size and consumes a minimum of power.
  • a further object of this invention is to provide a myoelectric brace which is operated by the muscle potentials in the patients arm.
  • a further object of this invention is to provide a myoelectric brace wherein muscle potentials are sensed by surface electrodes and are used to control finger position and tension in a proportional manner.
  • a further object of this invention is to provide a method of actuating a myoelectric brace.
  • a further object of this invention is to provide a myoelectric brace which is economical of manufacture, durable in use and refined in appearance.
  • FIG. I is a side elevational view of the brace mounted on the patients arm
  • FIG. 2 is a top view of the brace as seen along lines 22 of FIG. I;
  • FIG. 3 is a longitudinal sectional view of the hydraulic actuator as seen along lines 3-3 of FIG. 1;
  • FIG. 4 is a fragmentary longitudinal sectional view of the hydraulic pump as seen along lines 4-4 of FIG. 1;
  • FIG. 5 is a block diagram of the electrical circuitry of this invention.
  • FIG. 6 is a schematic view of the electrical circuitry of this invention.
  • the numeral 10 generally designates a fixed wrist-hand splint of this invention which is adapted to be secured to the patients lower arm, wrist and hand.
  • Splint 10 includes a splint portion 12 which is secured to the patients arm 14 by a strap 16 extending therearound and selectively closed by a Velcro fastener means 18 (FIG. I).
  • the upper end of splint portion 20 is pivotally connected to the lower end of splint portion 12 by a pin 22.
  • Thumb support 24 extends downwardly from one end of splint portion 20 and is adapted to have the patient's thumb received therein (FIG. I).
  • a curved support 26 is pivotally secured at its upper end to splint portion 20 by a pin 28 and has spaced-apart, finger supports 30 and 32 extending laterally therefrom.
  • finger support 30 is adapted to have the patients fingers extending therethrough while finger support 32 is adapted to extend over the patient's fingers.
  • An arcuate hand support 34 is secured to splint portion 20 and extends laterally therefrom adapted to cup or support the underside of the patients hand. Strap 36 extends around the patients hand to firmly maintain the device thereon.
  • a hydraulic actuator 38 is secured to splint portion 20 by bracket 40 and has a push rod 42 slidably extending therefrom which is pivotally secured by a pin 44 to one ofthe adjustment holes 46 formed in ear 48 which extends from the rearward end of support 26.
  • extension of push rod 42 from the hydraulic actuator 38 causes support 26 to pivot towards thumb support 24.
  • withdrawal of push rod 42 into the actuator 38 causes support 26 to pivot away from the thumb support 24.
  • Hydraulic actuator 38 includes a piston head portion 50 secured to cylinder housing 52 by head screws 54.
  • a bellowfram 56 is positioned between piston head portion SI) and cylinder housing 52 as seen in FIG. 3.
  • a U-shaped piston 58 is secured to bellowfram 56 by a piston cap screw 60 extending through piston cap 62, bellowfram 56 and into piston 58.
  • Push rod 42 is secured to piston 58 and extends through spaced apart ball bushings 64 and 66 to reduce friction.
  • a helical compression spring 68 embraces push rod 42 between piston 58 and support 70 and yieldably resists the extension of push rod 42 from housing 52.
  • Nipple 72 extends from piston head portion 50 and is adapted to have a fluid line 74 connected thereto to place the fluid chamber 76 in actuator 38 in communication with pump 78.
  • Pump 78 includes a hollow piston head 80 having a nipple 82 extending therefrom adapted to receive the fluid line 74 thereon.
  • Pump 78 includes a fluid chamber 84 having a pressure transducer 86 extending thereinto. Pressure transducer 86 is provided with an electrical lead 88 which extends to a differential amplifier which will be discussed hereinafter.
  • a bellowfram 90 is positioned between piston head 80 and cylinder housing 92 by means of cap screws 94.
  • a U-shaped piston 96 is secured to the center of bellowfram 90 by cap screws 98 extending through cap 100, bellowfram 90 and into piston 96.
  • piston 96 has an end plate 104 secured thereto which bears against the ball bearing screw nut I02 which runs in a groove of a grooved helical screw I16.
  • Screw 116 is secured to the drive shaft I05 which rotatably extends from a battery operated, direct current motor 106.
  • the numeral 108 refers to a coupling housing positioned between motor I06 and housing 92 and maintained therebetween by screws 110.
  • An oldham coupling 120 connects motor 106 to screw 116.
  • Energization of the motor 106 causes power shaft to rotate ball bearing screw 116.
  • the rotation of screw I16 causes screw nut 102 to be moved along the groove of the screw I16 to cause spring I18 to drive piston 96 to the right as viewed in FIG. 4.
  • Movement of piston 96 to the right causes the fluid in chamber 84 to be forced therefrom, through line 74 and into the fluid compartment of actuator 38.
  • the fluid entering fluid compartment 76 in actuator 38 causes piston 58 to be moved to the left, as viewed in FIG. 3, which causes push rod 42 to be extended from the actuator 38 which in turn causes support 26, and hence the patients fingers, to be moved towards the thumb support 24.
  • the numerals I12, I14 and 116 refer to the skin electrodes which are placed adjacent the skin surface of the patients arm as indicated in FIG. I and maintained thereon by suitable means such as tape or the like.
  • the electrodes are connected to a muscle potential amplifier generally referred to by the reference numeral 118 in FIGS. 5 and 6. If the patient desires to close his fingers, he tenses a muscle located near the skin surface electrodes. The resulting muscle potentials are then amplified by the muscle potential amplifier 118.
  • This amplifier FIG. 6, consists ofa pair of operational amplifiers in a unity gain to common mode type circuit followed by a differential amplifier circuit, a parallel T" rejection filter circuit, and a Darlington amplifier circuit.
  • the amplified myopotentials are then put into a detector circuit 120, consisting of a Schmidt trigger circuit followed by a low-pass filter circuit.
  • This detector circuit transforms the amplified muscle potentials into a slowly varying control signal whose amplitude is related to the muscle tension causing it.
  • the motor control circuit 126 causes the motor 106 to drive the hydraulic pump 78 until a pressure related to the desired finger position plus tension is reached.
  • the motor control circuit contains two identical control circuits consisting of a relaxation oscillator circuit which drives a hybrid timing circuit and a transistor bridge circuit. In this way both clockwise and counterclockwise rotation can be obtained depending upon which control circuit drives the transistor bridge circuit.
  • the motor W6 stops when the signal from the pressure transducer 86 causes the differential amplifier B24 output signal to go below a set threshold level. If the patient wishes to open his fingers, he simply relaxes and the signal from the pressure transducer 86 causes the motor 106 to reduce the pressure so that the brace is driven to its zero muscle voltage position by the spring 68 contained in the actuator 33.
  • the myoelectric brace is driven by muscle potentials.
  • the muscle potentials are created by tensing or contracting of the muscle which causes polarization of the muscle.
  • the electrodes on the skin detect the E.M.G. differential and relays the same to the circuitry illustratcd in the drawings.
  • the pump 78 and actuator 38 are especially designed to reduce friction through the use of the ball bushings 64 and 66 and through the use of the foldable bellowfram incorporated therein.
  • a brace has been provided which is lightweight and which requires a minimum of power to be consumed during the operation thereof.
  • the size of the brace is relatively small and is conveniently secured to the patients arm. Finger position and lietlSlOtt is controlled in a proportional manner due to the muscle potentials being sensed by the surface electrodes and the relationship of the pressure transducer to the motor control circuit,
  • a splint means adapted to be secured to a person's arm and having a fixed wrist-hand splint portion and a movable finger support means pivotally connected thereto,
  • a hydraulic actuator means mounted on said fixed wristband splint portion and being connected to said movable finger support means to cause said finger support means to be moved with respect to said fixed splint portion
  • a hydraulic pump means fluidly connected to said actuator means adapted to cause said actuator means to move said finger support means
  • an electrode means adapted to be placed on the wearer's skin surface adjacent a muscle capable of being tensed by the wearer
  • circuit means connected to said electrode means adapted to sense the myopotentials created by the tensing of said muscle and to transform the potentials into a control signal whereby said electric motor, said pump and said actuator will be operated so that said finger support means will be moved towards said fixed splint means, and
  • said pump means including a hollow piston head housing having a fluid compartment provided therein, said fluid compartment being in fluid communication with said actuator means, a cylinder housing connected to said piston head housing, a bellowfram between said piston head housing and said cylinder housing, a piston means in said cylinder housing connected to said bellowfram for movement therewith, a ball bearing screw rotatably mounted in said cylinder housing, a screw nut operatively connected to said piston means in engagement with said screw whereby rotation of said screw will cause said piston and said bellowfram to be moved, said motor having a drive shaft connected to said screw.
  • a pressure transducer is in communication with said fluid compartment in said piston head housing, said pressure transducer being electrically connected to said circuit means to stop said motor when a predetermined pressure is reached in said fluid compartment.

Abstract

A myoelectric brace consisting of a fixed wrist-hand splint portion having a movable finger support portion pivotally secured thereto which is operated by a hydraulic actuator. The actuator is hydraulically coupled to a pump which is driven by a battery powered, direct current motor. Three skin electrodes are positioned on the patient''s arm and sense muscle potentials in the patient''s arm when the patient tenses a muscle in the immediate area of the skin electrodes. The resulting myopotentials are then amplified by a muscle potential amplifier and are transformed into a slowly varying control signal by a detector circuit and a filter circuit. The control signal enters a differential amplifier where it causes the motor to drive the hydraulic pump until a predetermined pressure is reached. Actuation of the hydraulic pump causes the hydraulic actuator to pivotally move the finger support towards the fixed splint portion. The motor stops when the differential amplifier receives a signal from the pressure transducer equal in amplitude to the control signal. This causes the differential amplifier output signal to go to zero. Relaxation of the patient''s muscle causes the finger support to pivotally move away from the fixed splint portion.

Description

United States Patent [72] Inventor Allan G. Potter Ames, Iowa [21] Appl. No. 848,919
[22] Filed Aug. 11, 1969 [45] Patented Jan. 4, 1972 [73] Assignee Iowa State University Research Foundation Ames, Iowa [54] MYOELECTRIC BRACE Myo-Electric Control of Powered Prostheses by A. H. Bottomley, The Journal of Bone & Joint Surgery, Vol. 47B, No.3,Aug.1965,pp.411-415,3-1.1
Gas-Powered Sources and Actuators for Prosthetic and Orthotic Devices" by J. R. Pearson, The Control of External Power in Upper-Extremity Rehabilitation, Nat. Academy of Sciences- Nat. Research Council, Wash., DC, 1966, pp. 196-197 (FIG. 5) copy in P.O. Scientific Library (RD756- N32C). 3-1.2
Myoelectric Control Systems" by W. Waring et al.,
Orthopedic & Prosthetic Appl. Journal, Vol. 21, No. 1, Mar. 1967, pp. 27-32. 3l.l
Myo-Electrically Controlled Electric Torque Motor for the Flexor Hinge Hand Splint by C. 'Irombley et al., Orthopedic & Prosthetic Appliance Journal, Vol. 21, No. 1, Mar. 1967, pp. 39-43. 3-1.1
Primary ExaminerRichard A. Gaudet Assistant Examiner-Ronald L. F rinks Attorney-Zarley, McKee & Thomte ABSTRACT: A myoelectric brace consisting of a fixed wristband splint portion having a movable finger support portion pivotally secured thereto which is operated by a hydraulic actuator. The actuator is hydraulically coupled to a pump which is driven by a battery powered, direct current motor. Three skin electrodes are positioned on the patients arm and sense muscle potentials in the patients arm when the patient tenses a muscle in the immediate area of the skin electrodes. The resulting myo-potentials are then amplified by a muscle potential amplifier and are transformed into a slowly varying control signal by a detector circuit and a filter circuit. The control signal enters a differential amplifier where it causes the motor to drive the hydraulic pump until a predetermined pressure is reached. Actuation of the hydraulic pump causes the hydraulic actuator to pivotally move the finger support towards the fixed splint portion. The motor stops when the differential amplifier receives a signal from the pressure transducer equal in amplitude to the control signal. This causes the differential amplifier output signal to go to zero. Relaxation of the patients muscle causes the finger support to pivotally move away from the fixed splint portion.
PATENTEDJAN 41912 3531.542
SHEET 1 [IF 2 Arrow/945 MYOELECTRIC BRACE Electrically powered orthotic devices or braces for quadraplegic patients are convenient because the electrical power is readily available and is easily stored in the batteries which drive the electric motors on wheel chairs used by such patients. The utilization of other types of energy storage techniques by these patients requires the handling of another source of energy and thus, another set of operating conditions which is highly undesirable. In order to utilize the electrical energy stored in the wheel chair batteries to effectively power orthotic devices, one must optimize several conflicting requirements. First, both the weight and size of the bracemounted actuator must be small. Second, the response and control of the limb brace when driven by the actuator must be normal. Third, minimum size, weight, and power consumption is desired for the complete device.
Therefore, it is a principal object of this invention to pro vide a myoelectric brace for quadraplegic patients.
A further object of this invention is to provide a myoelectric brace which is powered by a unique hydraulic system driven by a direct current battery operated motor.
A further object of this invention is to provide a myoelectric brace which is light weight.
A further object of this invention is to provide a myoelectric brace which has a minimum size and consumes a minimum of power.
A further object of this invention is to provide a myoelectric brace which is operated by the muscle potentials in the patients arm.
A further object of this invention is to provide a myoelectric brace wherein muscle potentials are sensed by surface electrodes and are used to control finger position and tension in a proportional manner.
A further object of this invention is to provide a method of actuating a myoelectric brace.
A further object of this invention is to provide a myoelectric brace which is economical of manufacture, durable in use and refined in appearance.
These and other objects will be apparent to those skilled in the art.
This invention consists in the construction, arrangements, and combination of the various parts of the device, whereby the objects contemplated are attained as hereinafter more fully set forth, specifically pointed out in the claims, and illustrated in the accompanying drawings in which:
FIG. I is a side elevational view of the brace mounted on the patients arm;
FIG. 2 is a top view of the brace as seen along lines 22 of FIG. I;
FIG. 3 is a longitudinal sectional view of the hydraulic actuator as seen along lines 3-3 of FIG. 1;
FIG. 4 is a fragmentary longitudinal sectional view of the hydraulic pump as seen along lines 4-4 of FIG. 1;
FIG. 5 is a block diagram of the electrical circuitry of this invention; and
FIG. 6 is a schematic view of the electrical circuitry of this invention.
The numeral 10 generally designates a fixed wrist-hand splint of this invention which is adapted to be secured to the patients lower arm, wrist and hand. Splint 10 includes a splint portion 12 which is secured to the patients arm 14 by a strap 16 extending therearound and selectively closed by a Velcro fastener means 18 (FIG. I). The upper end of splint portion 20 is pivotally connected to the lower end of splint portion 12 by a pin 22. Thumb support 24 extends downwardly from one end of splint portion 20 and is adapted to have the patient's thumb received therein (FIG. I). A curved support 26 is pivotally secured at its upper end to splint portion 20 by a pin 28 and has spaced-apart, finger supports 30 and 32 extending laterally therefrom. As seen in FIG. I, finger support 30 is adapted to have the patients fingers extending therethrough while finger support 32 is adapted to extend over the patient's fingers. An arcuate hand support 34 is secured to splint portion 20 and extends laterally therefrom adapted to cup or support the underside of the patients hand. Strap 36 extends around the patients hand to firmly maintain the device thereon.
A hydraulic actuator 38 is secured to splint portion 20 by bracket 40 and has a push rod 42 slidably extending therefrom which is pivotally secured by a pin 44 to one ofthe adjustment holes 46 formed in ear 48 which extends from the rearward end of support 26. Thus, extension of push rod 42 from the hydraulic actuator 38 causes support 26 to pivot towards thumb support 24. Conversely, the withdrawal of push rod 42 into the actuator 38 causes support 26 to pivot away from the thumb support 24.
Hydraulic actuator 38 includes a piston head portion 50 secured to cylinder housing 52 by head screws 54. A bellowfram 56 is positioned between piston head portion SI) and cylinder housing 52 as seen in FIG. 3. A U-shaped piston 58 is secured to bellowfram 56 by a piston cap screw 60 extending through piston cap 62, bellowfram 56 and into piston 58.
Push rod 42 is secured to piston 58 and extends through spaced apart ball bushings 64 and 66 to reduce friction. A helical compression spring 68 embraces push rod 42 between piston 58 and support 70 and yieldably resists the extension of push rod 42 from housing 52. Nipple 72 extends from piston head portion 50 and is adapted to have a fluid line 74 connected thereto to place the fluid chamber 76 in actuator 38 in communication with pump 78. Pump 78 includes a hollow piston head 80 having a nipple 82 extending therefrom adapted to receive the fluid line 74 thereon. Pump 78 includes a fluid chamber 84 having a pressure transducer 86 extending thereinto. Pressure transducer 86 is provided with an electrical lead 88 which extends to a differential amplifier which will be discussed hereinafter.
A bellowfram 90 is positioned between piston head 80 and cylinder housing 92 by means of cap screws 94. A U-shaped piston 96 is secured to the center of bellowfram 90 by cap screws 98 extending through cap 100, bellowfram 90 and into piston 96.
The other end of piston 96 has an end plate 104 secured thereto which bears against the ball bearing screw nut I02 which runs in a groove of a grooved helical screw I16. Screw 116 is secured to the drive shaft I05 which rotatably extends from a battery operated, direct current motor 106. The numeral 108 refers to a coupling housing positioned between motor I06 and housing 92 and maintained therebetween by screws 110. An oldham coupling 120 connects motor 106 to screw 116.
Energization of the motor 106 causes power shaft to rotate ball bearing screw 116. The rotation of screw I16 causes screw nut 102 to be moved along the groove of the screw I16 to cause spring I18 to drive piston 96 to the right as viewed in FIG. 4. Movement of piston 96 to the right causes the fluid in chamber 84 to be forced therefrom, through line 74 and into the fluid compartment of actuator 38. The fluid entering fluid compartment 76 in actuator 38 causes piston 58 to be moved to the left, as viewed in FIG. 3, which causes push rod 42 to be extended from the actuator 38 which in turn causes support 26, and hence the patients fingers, to be moved towards the thumb support 24.
The numerals I12, I14 and 116 refer to the skin electrodes which are placed adjacent the skin surface of the patients arm as indicated in FIG. I and maintained thereon by suitable means such as tape or the like. The electrodes are connected to a muscle potential amplifier generally referred to by the reference numeral 118 in FIGS. 5 and 6. If the patient desires to close his fingers, he tenses a muscle located near the skin surface electrodes. The resulting muscle potentials are then amplified by the muscle potential amplifier 118. This amplifier FIG. 6, consists ofa pair of operational amplifiers in a unity gain to common mode type circuit followed by a differential amplifier circuit, a parallel T" rejection filter circuit, and a Darlington amplifier circuit. The amplified myopotentials are then put into a detector circuit 120, consisting of a Schmidt trigger circuit followed by a low-pass filter circuit. This detector circuit transforms the amplified muscle potentials into a slowly varying control signal whose amplitude is related to the muscle tension causing it. if the output of the differential amplificr T24 is sufficiently large the motor control circuit 126 causes the motor 106 to drive the hydraulic pump 78 until a pressure related to the desired finger position plus tension is reached. The motor control circuit contains two identical control circuits consisting of a relaxation oscillator circuit which drives a hybrid timing circuit and a transistor bridge circuit. In this way both clockwise and counterclockwise rotation can be obtained depending upon which control circuit drives the transistor bridge circuit. The motor W6 stops when the signal from the pressure transducer 86 causes the differential amplifier B24 output signal to go below a set threshold level. If the patient wishes to open his fingers, he simply relaxes and the signal from the pressure transducer 86 causes the motor 106 to reduce the pressure so that the brace is driven to its zero muscle voltage position by the spring 68 contained in the actuator 33.
In summary, it can be seen that the myoelectric brace is driven by muscle potentials. The muscle potentials are created by tensing or contracting of the muscle which causes polarization of the muscle. The electrodes on the skin detect the E.M.G. differential and relays the same to the circuitry illustratcd in the drawings. The pump 78 and actuator 38 are especially designed to reduce friction through the use of the ball bushings 64 and 66 and through the use of the foldable bellowfram incorporated therein.
A brace has been provided which is lightweight and which requires a minimum of power to be consumed during the operation thereof. The size of the brace is relatively small and is conveniently secured to the patients arm. Finger position and lietlSlOtt is controlled in a proportional manner due to the muscle potentials being sensed by the surface electrodes and the relationship of the pressure transducer to the motor control circuit,
Thus it can be seen that the device accomplishes at least all ofits stated objectivesv lclaim:
l. in a myoelectric brace, comprising,
a splint means adapted to be secured to a person's arm and having a fixed wrist-hand splint portion and a movable finger support means pivotally connected thereto,
a hydraulic actuator means mounted on said fixed wristband splint portion and being connected to said movable finger support means to cause said finger support means to be moved with respect to said fixed splint portion,
a hydraulic pump means fluidly connected to said actuator means adapted to cause said actuator means to move said finger support means,
a motor means for operating said pump means,
an electrode means adapted to be placed on the wearer's skin surface adjacent a muscle capable of being tensed by the wearer,
a circuit means connected to said electrode means adapted to sense the myopotentials created by the tensing of said muscle and to transform the potentials into a control signal whereby said electric motor, said pump and said actuator will be operated so that said finger support means will be moved towards said fixed splint means, and
said pump means including a hollow piston head housing having a fluid compartment provided therein, said fluid compartment being in fluid communication with said actuator means, a cylinder housing connected to said piston head housing, a bellowfram between said piston head housing and said cylinder housing, a piston means in said cylinder housing connected to said bellowfram for movement therewith, a ball bearing screw rotatably mounted in said cylinder housing, a screw nut operatively connected to said piston means in engagement with said screw whereby rotation of said screw will cause said piston and said bellowfram to be moved, said motor having a drive shaft connected to said screw. I 2. The brace of claim 1 wherein a pressure transducer is in communication with said fluid compartment in said piston head housing, said pressure transducer being electrically connected to said circuit means to stop said motor when a predetermined pressure is reached in said fluid compartment.

Claims (2)

1. In a myoelectric brace, comprising, a splint means adapted to be secured to a person''s arm and having a fixed wrist-hand splint portion and a movable finger support means pivotally connected thereto, a hydraulic actuator means mounted on said fixed wrist-hand splint portion and being connected to said movable finger support means to cause said finger support means to be moved with respect to said fixed splint portion, a hydraulic pump means fluidly connected to said actuator means adapted to cause said actuator means to move said finger support means, a motor means for operating said pump means, an electrode means adapted to be placed on the wearer''s skin surface adjacent a muscle capable of being tensed by the wearer, a circuit means connected to said electrode means adapted to sense the myo-potentials created by the tensing of said muscle and to transform the potentials into a control signal whereby said electric motor, said pump and said actuator will be operated so that said finger support means will be moved towards said fixed splint means, and said pump means including a hollow piston head housing having a fluid compartment provided therein, said fluid compartment being in fluid communication with said actuator means, a cylinder housing connected to said piston head housing, a bellowfram between said piston head housing and said cylinder housing, a piston means in said cylinder housing connected to said bellowfram for movement therewith, a ball bearing screw rotatably mounted in said cylinder housing, a screw nut operatively connected to said piston means in engagement with said screw whereby rotation of said screw will cause said piston and said bellowfram to be moved, said motor having a drive shaft connected to said screw.
2. The brace of claim 1 wherein a pressure transducer is in communication with said fluid compartment in said piston head housing, said pressure transducer being electrically connected to said circuit means to stop said motor when a predetermined pressure is reached in said fluid compartment.
US848919A 1969-08-11 1969-08-11 Myoelectric brace Expired - Lifetime US3631542A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US84891969A 1969-08-11 1969-08-11

Publications (1)

Publication Number Publication Date
US3631542A true US3631542A (en) 1972-01-04

Family

ID=25304621

Family Applications (1)

Application Number Title Priority Date Filing Date
US848919A Expired - Lifetime US3631542A (en) 1969-08-11 1969-08-11 Myoelectric brace

Country Status (1)

Country Link
US (1) US3631542A (en)

Cited By (99)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3735425A (en) * 1971-02-10 1973-05-29 Us Of America The Secretary Of Myoelectrically controlled prothesis
US4016607A (en) * 1976-07-30 1977-04-12 Eino Pihlaja Artificial hand
US4259806A (en) * 1980-06-20 1981-04-07 Summit Licensing Company Walking toy
US4340371A (en) * 1981-03-18 1982-07-20 The United States Of America As Represented By The Secretary Of The Air Force Upper and lower arm load simulator
WO1983002249A1 (en) * 1981-12-24 1983-07-07 Hans Richter Mounting robot
WO1987001082A1 (en) * 1985-08-13 1987-02-26 Martin Werder Cross-country vehicle
US4679548A (en) * 1984-02-01 1987-07-14 Compagnie Generale De Material Orthopedique Re-education apparatus for the articulated segments of the hand
US4724827A (en) * 1985-01-10 1988-02-16 Schenck Robert R Dynamic traction device
US4782825A (en) * 1987-05-21 1988-11-08 Robert Lonardo Combination arm splint and finger support means
US4792338A (en) * 1985-10-15 1988-12-20 Centri Gummifabrik Ab Artificial hand
US4875469A (en) * 1988-06-13 1989-10-24 Innovative Medical Engineering, Inc. Continuous passive motion devices and methods
USRE33182E (en) * 1984-01-02 1990-03-20 Compagnie Generale De Materiel Orthopedique Re-education apparatus for the articulated segments of the hand
US5103811A (en) * 1990-07-09 1992-04-14 Crupi Jr Theodore P Body part or joint brace
US5147285A (en) * 1991-08-01 1992-09-15 Buxton Aldene H Movable thumb brace
US5222986A (en) * 1992-01-27 1993-06-29 Wright Donald M Hand prosthesis for grasping large and small objects
US5252102A (en) * 1989-01-24 1993-10-12 Electrobionics Corporation Electronic range of motion apparatus, for orthosis, prosthesis, and CPM machine
US5376091A (en) * 1990-06-08 1994-12-27 Smith & Nephew Richards, Inc. Dynamic finger support
EP0650708A1 (en) * 1992-10-13 1995-05-03 Carl Anthony Caspers Prosthetic liner and method of making the liner with a prosthesis socket
AU660309B2 (en) * 1991-05-06 1995-06-22 Smith & Nephew, Inc. Dynamic joint support
US5458560A (en) * 1993-09-03 1995-10-17 Jace Systems, Inc. Continuous passive motion device for a wrist
US5549709A (en) * 1995-07-26 1996-08-27 Caspers; Carl A. Hypobarically-Controlled artificial limb for amputees
US5653680A (en) * 1995-08-10 1997-08-05 Cruz; Mark K. Active wrist brace
US5683351A (en) * 1994-09-27 1997-11-04 Jace Systems, Inc. Continuous passive motion device for a hand
US5707345A (en) * 1992-12-14 1998-01-13 Para Tech Industries, Inc. Method for treating carpal tunnel syndrome
US5735906A (en) * 1995-07-26 1998-04-07 Caspers; Carl A. Hypobarically-controlled artificial limb with detents for amputees
US5800561A (en) * 1996-05-15 1998-09-01 Massachusetts Institute Of Technology Power-assisted upper extremity orthosis
USD404818S (en) * 1997-10-14 1999-01-26 Mark Cruz Combination orthosis for the elbow and wrist joints
US6080123A (en) * 1998-09-14 2000-06-27 Pansiera; Timothy Thomas Orthotic joint with radial hydraulic force transfer
USD429335S (en) * 1999-09-03 2000-08-08 Caspers-Schneider Technologies, Inc. Prosthetic liner reinforcement patch
US6179799B1 (en) 1999-02-01 2001-01-30 Robert E. Doran Orthosis for supination and pronation of the wrist
US6508842B1 (en) 1999-06-03 2003-01-21 Barbara J. Caspers Socket liner for artificial limb
US6554868B1 (en) 1999-06-03 2003-04-29 Carl A. Caspers Vacuum pump and shock absorber for artificial limb
US6645253B2 (en) 1999-06-03 2003-11-11 Carl A. Caspers Vacuum pump and shock absorber for artificial limb
US6689074B2 (en) * 2000-03-28 2004-02-10 Seiko Epson Corporation Wearable muscular-force supplementing device
US20040030411A1 (en) * 1999-06-03 2004-02-12 Caspers Carl A. Pulsating pressure chamber and method for fluid management
WO2004019834A1 (en) * 2002-08-21 2004-03-11 Technische Universität Berlin Device for influencing movement with a parallel mechanism
US6726726B2 (en) 1999-06-03 2004-04-27 Otto Bock Healthcare Lp Vacuum apparatus and method for managing residual limb volume in an artificial limb
US20040102723A1 (en) * 2002-11-25 2004-05-27 Horst Robert W. Active muscle assistance device and method
US20040106881A1 (en) * 2002-11-21 2004-06-03 Mcbean John M. Powered orthotic device
US20040143345A1 (en) * 1999-06-03 2004-07-22 Barbara Caspers Socket liner for artificial limb
US6926742B2 (en) 1999-06-03 2005-08-09 Otto Bock Healthcare Lp Plate/socket attachment for artificial limb vacuum pump
US20050245853A1 (en) * 2002-04-16 2005-11-03 Scorvo Sean K Adjustable orthotic brace
US20050273027A1 (en) * 2002-02-25 2005-12-08 Saebo, Inc. Dynamic hand splint
US6974484B2 (en) 1999-06-03 2005-12-13 Otto Bock Healthcare Lp Osmotic membrane and vacuum system for artificial limb
US20060211964A1 (en) * 2004-12-10 2006-09-21 Saebo, Inc. Dynamic hand splints
US20070155557A1 (en) * 2005-12-30 2007-07-05 Horst Robert W Deflector assembly
US20070265711A1 (en) * 2006-05-09 2007-11-15 Otto Bock Healthcare Products Gmbh Internal socket and fitting system for a prosthesis
US20080071386A1 (en) * 2006-09-19 2008-03-20 Myomo, Inc. Powered Orthotic Device and Method of Using Same
US20080195005A1 (en) * 2007-02-14 2008-08-14 Horst Robert W Methods and devices for deep vein thrombosis prevention
CN100427047C (en) * 2006-06-14 2008-10-22 吉林大学 Automatic medical constant-force small splint
US20080277943A1 (en) * 2005-08-10 2008-11-13 Donelan James M Method and apparatus for harvesting biomechanical energy
US20090099492A1 (en) * 2007-10-11 2009-04-16 Saebo, Inc. Splint assembly for positioning of the hand
WO2006072068A3 (en) * 2004-12-30 2009-04-23 Saebo Inc Dynamic splint assembly
US20090204038A1 (en) * 2008-02-08 2009-08-13 Tibion Corporation Multi-fit orthotic and mobility assistance apparatus
US20090227925A1 (en) * 2006-09-19 2009-09-10 Mcbean John M Powered Orthotic Device and Method of Using Same
US20090306548A1 (en) * 2008-06-05 2009-12-10 Bhugra Kern S Therapeutic method and device for rehabilitation
US20100038983A1 (en) * 2008-08-14 2010-02-18 Kern Bhugra Actuator system with a motor assembly and latch for extending and flexing a joint
US20100039052A1 (en) * 2008-08-14 2010-02-18 Horst Robert W Actuator system with a multi-motor assembly for extending and flexing a joint
US20100204620A1 (en) * 2009-02-09 2010-08-12 Smith Jonathan A Therapy and mobility assistance system
WO2010117065A1 (en) * 2009-04-09 2010-10-14 国立大学法人筑波大学 Wearable motion assist device
US20100280423A1 (en) * 2007-12-28 2010-11-04 Panasonic Corporation Muscle force assisting device (as amended)
US20110004322A1 (en) * 2005-01-26 2011-01-06 University Of Tsukuba Wearable action-assist device and control program
US8016780B1 (en) * 2009-01-02 2011-09-13 George Sickles Orthopedic brace
US20110282253A1 (en) * 2009-09-21 2011-11-17 Carlo Menon Wrist exoskeleton
US20120101596A1 (en) * 2009-06-23 2012-04-26 Otto Bock Healthcare Products Gmbh Method for setting up a control and technical orthopedic device
CN102848384A (en) * 2012-10-08 2013-01-02 常州汉迪机器人科技有限公司 Flexible actuator of robot system and robot system
CN103112005A (en) * 2011-11-17 2013-05-22 财团法人精密机械研究发展中心 Gesture type mechanical arm
US8496715B2 (en) 2007-04-27 2013-07-30 Otto Bock Healthcare Lp Pneumatic connections for prosthetic socket
CN103315737A (en) * 2013-06-18 2013-09-25 上海交通大学 Wearable multi-channel surface electromyogram signal collecting armlet
US8591599B1 (en) * 2011-01-07 2013-11-26 Infinite Biomedical Technologies, Llc Electrode assemblies for detecting muscle signals in a prosthetic liner
US8639455B2 (en) 2009-02-09 2014-01-28 Alterg, Inc. Foot pad device and method of obtaining weight data
US8736087B2 (en) 2011-09-01 2014-05-27 Bionic Power Inc. Methods and apparatus for control of biomechanical energy harvesting
US20140243721A1 (en) * 2013-02-28 2014-08-28 Marvin Frank Bryant Myoelectric hand orthosis
US9044348B2 (en) 2012-04-30 2015-06-02 Ossur Hf Prosthetic device, system and method for increasing vacuum attachment
US9198780B2 (en) 2012-02-14 2015-12-01 Ossur Hf Vacuum assisted suspension system
US9364348B2 (en) 2013-03-01 2016-06-14 Ossur Hf Vacuum suspension system
US20160221181A1 (en) * 2015-01-29 2016-08-04 Airbus Operations Gmbh Support device for stabilizing a body part of a person
EP3146944A1 (en) * 2015-09-23 2017-03-29 Albrecht GmbH Wrist orthotic
US9757266B2 (en) 2010-06-01 2017-09-12 Saebo, Inc. Orthotic device
US9757256B2 (en) 2014-07-01 2017-09-12 Ossur Hf Pump mechanism for vacuum suspension system
US9764190B2 (en) 2012-06-13 2017-09-19 Saebo, Inc. Dynamic hand splints
US9889058B2 (en) 2013-03-15 2018-02-13 Alterg, Inc. Orthotic device drive system and method
US9943421B2 (en) 2015-05-21 2018-04-17 Ossur Iceland Ehf Membrane pump system for use with a prosthetic system
US10028845B2 (en) 2015-01-08 2018-07-24 Ossur Iceland Ehf Pump mechanism
WO2018158554A3 (en) * 2017-02-28 2018-10-25 Ambionics International Limited Prosthetic limb
US10179055B2 (en) 2015-05-29 2019-01-15 Ossur Iceland Ehf Pump system for use with a prosthetic device
US10195099B2 (en) 2016-01-11 2019-02-05 Bionic Power Inc. Method and system for intermittently assisting body motion
US10245204B2 (en) 2015-09-11 2019-04-02 Ekso Bionics, Inc. Devices and methods for improving the utility of an exoskeleton mobility base
US10413429B2 (en) 2015-08-27 2019-09-17 Ossur Iceland Ehf Pump system
US10512554B2 (en) 2016-08-26 2019-12-24 Ossur Iceland Ehf Pump system
WO2019234707A3 (en) * 2018-06-08 2020-04-09 Epic Inventing, Inc. Prosthetic hand
US10758379B2 (en) 2016-05-25 2020-09-01 Scott MANDELBAUM Systems and methods for fine motor control of fingers on a prosthetic hand to emulate a natural stroke
US10758394B2 (en) 2006-09-19 2020-09-01 Myomo, Inc. Powered orthotic device and method of using same
EP3698765A4 (en) * 2017-10-20 2020-12-23 Panasonic Corporation Finger driving apparatus
US10912667B1 (en) 2017-01-27 2021-02-09 George Sickles Orthopedic brace
CN113397779A (en) * 2015-06-15 2021-09-17 我自己的动作有限公司 Powered orthotic device
US11140969B2 (en) * 2016-11-09 2021-10-12 Randall Alley Load distribution systems and load carrying equipment
US11357691B2 (en) * 2016-02-15 2022-06-14 Lime Medical Gmbh Finger motion rail, support therefor and therapy device comprising same and operating method
US11534358B2 (en) 2019-10-11 2022-12-27 Neurolutions, Inc. Orthosis systems and rehabilitation of impaired body parts

Non-Patent Citations (4)

* Cited by examiner, † Cited by third party
Title
Gas Powered Sources and Actuators for Prosthetic and Orthotic Devices by J. R. Pearson, The Control of External Power in Upper Extremity Rehabilitation, Nat. Academy of Sciences Nat. Research Council, Wash., D.C., 1966, pp. 196 197 (FIG. 5) *
Myo Electric Control of Powered Prostheses by A. H. Bottomley, The Journal of Bone & Joint Surgery, Vol. 47B, No. 3, Aug. 1965, pp. 411 415 *
Myo Electrically Controlled Electric Torque Motor for the Flexor Hinge Hand Splint by C. Trombley et al., Orthopedic & Prosthetic Appliance Journal, Vol. 21, No. 1, Mar. 1967, pp. 39 43 *
Myoelectric Control Systems by W. Waring et al., Orthopedic & Prosthetic Appl. Journal, Vol. 21, No. 1, Mar. 1967, pp. 27 32 *

Cited By (180)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3735425A (en) * 1971-02-10 1973-05-29 Us Of America The Secretary Of Myoelectrically controlled prothesis
US4016607A (en) * 1976-07-30 1977-04-12 Eino Pihlaja Artificial hand
US4259806A (en) * 1980-06-20 1981-04-07 Summit Licensing Company Walking toy
US4340371A (en) * 1981-03-18 1982-07-20 The United States Of America As Represented By The Secretary Of The Air Force Upper and lower arm load simulator
WO1983002249A1 (en) * 1981-12-24 1983-07-07 Hans Richter Mounting robot
US4575297A (en) * 1981-12-24 1986-03-11 Hans Richter Assembly robot
USRE33182E (en) * 1984-01-02 1990-03-20 Compagnie Generale De Materiel Orthopedique Re-education apparatus for the articulated segments of the hand
US4679548A (en) * 1984-02-01 1987-07-14 Compagnie Generale De Material Orthopedique Re-education apparatus for the articulated segments of the hand
US4724827A (en) * 1985-01-10 1988-02-16 Schenck Robert R Dynamic traction device
WO1987001082A1 (en) * 1985-08-13 1987-02-26 Martin Werder Cross-country vehicle
US4792338A (en) * 1985-10-15 1988-12-20 Centri Gummifabrik Ab Artificial hand
US4782825A (en) * 1987-05-21 1988-11-08 Robert Lonardo Combination arm splint and finger support means
US4875469A (en) * 1988-06-13 1989-10-24 Innovative Medical Engineering, Inc. Continuous passive motion devices and methods
US5252102A (en) * 1989-01-24 1993-10-12 Electrobionics Corporation Electronic range of motion apparatus, for orthosis, prosthesis, and CPM machine
US5376091A (en) * 1990-06-08 1994-12-27 Smith & Nephew Richards, Inc. Dynamic finger support
US5103811A (en) * 1990-07-09 1992-04-14 Crupi Jr Theodore P Body part or joint brace
AU660309B2 (en) * 1991-05-06 1995-06-22 Smith & Nephew, Inc. Dynamic joint support
US5147285A (en) * 1991-08-01 1992-09-15 Buxton Aldene H Movable thumb brace
US5222986A (en) * 1992-01-27 1993-06-29 Wright Donald M Hand prosthesis for grasping large and small objects
EP0650708A1 (en) * 1992-10-13 1995-05-03 Carl Anthony Caspers Prosthetic liner and method of making the liner with a prosthesis socket
EP1010407A1 (en) * 1992-10-13 2000-06-21 Carl Anthony Caspers Prosthetic liner and method of making the liner with a prosthetic socket
US5707345A (en) * 1992-12-14 1998-01-13 Para Tech Industries, Inc. Method for treating carpal tunnel syndrome
US5620410A (en) * 1993-09-03 1997-04-15 Jace Systems, Inc. Continuous passive motion device for a wrist
US5458560A (en) * 1993-09-03 1995-10-17 Jace Systems, Inc. Continuous passive motion device for a wrist
US5683351A (en) * 1994-09-27 1997-11-04 Jace Systems, Inc. Continuous passive motion device for a hand
US5549709A (en) * 1995-07-26 1996-08-27 Caspers; Carl A. Hypobarically-Controlled artificial limb for amputees
US5735906A (en) * 1995-07-26 1998-04-07 Caspers; Carl A. Hypobarically-controlled artificial limb with detents for amputees
US5653680A (en) * 1995-08-10 1997-08-05 Cruz; Mark K. Active wrist brace
US5800561A (en) * 1996-05-15 1998-09-01 Massachusetts Institute Of Technology Power-assisted upper extremity orthosis
US5904722A (en) * 1996-06-11 1999-05-18 Caspers; Carl A. Hypobarically-controlled, double-socket artificial limb with mechanical interlock
USD404818S (en) * 1997-10-14 1999-01-26 Mark Cruz Combination orthosis for the elbow and wrist joints
US6080123A (en) * 1998-09-14 2000-06-27 Pansiera; Timothy Thomas Orthotic joint with radial hydraulic force transfer
US6179799B1 (en) 1999-02-01 2001-01-30 Robert E. Doran Orthosis for supination and pronation of the wrist
US7922775B2 (en) 1999-06-03 2011-04-12 Otto Bock Healthcare Lp Pulsating pressure chamber and method for fluid management
US6926742B2 (en) 1999-06-03 2005-08-09 Otto Bock Healthcare Lp Plate/socket attachment for artificial limb vacuum pump
US6554868B1 (en) 1999-06-03 2003-04-29 Carl A. Caspers Vacuum pump and shock absorber for artificial limb
US6645253B2 (en) 1999-06-03 2003-11-11 Carl A. Caspers Vacuum pump and shock absorber for artificial limb
US8758449B2 (en) 1999-06-03 2014-06-24 Otto Bock Healthcare Lp Socket liner for artificial limb
US20040030411A1 (en) * 1999-06-03 2004-02-12 Caspers Carl A. Pulsating pressure chamber and method for fluid management
US6508842B1 (en) 1999-06-03 2003-01-21 Barbara J. Caspers Socket liner for artificial limb
US6726726B2 (en) 1999-06-03 2004-04-27 Otto Bock Healthcare Lp Vacuum apparatus and method for managing residual limb volume in an artificial limb
US6974484B2 (en) 1999-06-03 2005-12-13 Otto Bock Healthcare Lp Osmotic membrane and vacuum system for artificial limb
US20110202143A1 (en) * 1999-06-03 2011-08-18 Otto Bock Healthcare, Lp Socket liner for artificial limb
US6761742B2 (en) 1999-06-03 2004-07-13 Otto Bock Healthcare Lp Vacuum pump and shock absorber for artificial limb
US20040143345A1 (en) * 1999-06-03 2004-07-22 Barbara Caspers Socket liner for artificial limb
US20040181290A1 (en) * 1999-06-03 2004-09-16 Otto Bock Healthcare Lp Vacuum apparatus and method for managing residual limb volume in an artificial limb
USD429335S (en) * 1999-09-03 2000-08-08 Caspers-Schneider Technologies, Inc. Prosthetic liner reinforcement patch
US6689074B2 (en) * 2000-03-28 2004-02-10 Seiko Epson Corporation Wearable muscular-force supplementing device
US20050273027A1 (en) * 2002-02-25 2005-12-08 Saebo, Inc. Dynamic hand splint
US7601130B2 (en) 2002-02-25 2009-10-13 Saebo, Inc. Dynamic hand splint
US20090326428A1 (en) * 2002-02-25 2009-12-31 Saebo, Inc. Dynamic hand splint
US8328743B2 (en) 2002-02-25 2012-12-11 Saebo, Inc. Dynamic hand splint
US20050245853A1 (en) * 2002-04-16 2005-11-03 Scorvo Sean K Adjustable orthotic brace
WO2004019834A1 (en) * 2002-08-21 2004-03-11 Technische Universität Berlin Device for influencing movement with a parallel mechanism
US7367958B2 (en) 2002-11-21 2008-05-06 Massachusetts Institute Of Technology Method of using powered orthotic device
US20070191743A1 (en) * 2002-11-21 2007-08-16 Massachusetts Institute Of Technology Method of Using Powered Orthotic Device
US20040106881A1 (en) * 2002-11-21 2004-06-03 Mcbean John M. Powered orthotic device
US7396337B2 (en) 2002-11-21 2008-07-08 Massachusetts Institute Of Technology Powered orthotic device
US20040102723A1 (en) * 2002-11-25 2004-05-27 Horst Robert W. Active muscle assistance device and method
US7537573B2 (en) 2002-11-25 2009-05-26 Tibion Corporation Active muscle assistance and resistance device and method
US8679040B2 (en) 2002-11-25 2014-03-25 Alterg, Inc. Intention-based therapy device and method
US20100318006A1 (en) * 2002-11-25 2010-12-16 Horst Robert W Power regeneration in active muscle assistance device and method
US20060004307A1 (en) * 2002-11-25 2006-01-05 Horst Robert W Active muscle assistance device and method
US6966882B2 (en) * 2002-11-25 2005-11-22 Tibion Corporation Active muscle assistance device and method
US20090036804A1 (en) * 2002-11-25 2009-02-05 Horst Robert W Power regeneration in active muscle assistance device and method
US20110144552A1 (en) * 2004-12-10 2011-06-16 John Fletcher Farrell Dynamic hand splints
US20060211964A1 (en) * 2004-12-10 2006-09-21 Saebo, Inc. Dynamic hand splints
US7892194B2 (en) 2004-12-10 2011-02-22 Saebo, Inc. Dynamic hand splints
US8328744B2 (en) 2004-12-10 2012-12-11 Saebo, Inc. Dynamic hand splints
WO2006072068A3 (en) * 2004-12-30 2009-04-23 Saebo Inc Dynamic splint assembly
US20110004322A1 (en) * 2005-01-26 2011-01-06 University Of Tsukuba Wearable action-assist device and control program
US8932241B2 (en) * 2005-01-26 2015-01-13 University Of Tsukuba Wearable action-assist device and control program
US9427373B2 (en) 2005-01-26 2016-08-30 University Of Tsukuba Wearable action-assist device and control program
US7659636B2 (en) 2005-08-10 2010-02-09 Bionic Power Inc. Methods and apparatus for harvesting biomechanical energy
US7652386B2 (en) * 2005-08-10 2010-01-26 Bionic Power Inc. Method and apparatus for harvesting biomechanical energy
US8487456B2 (en) 2005-08-10 2013-07-16 Bionic Power Inc. Methods and apparatus for harvesting biomechanical energy
US9057361B2 (en) 2005-08-10 2015-06-16 Bionic Power Inc. Methods and apparatus for harvesting biomechanical energy
US8299634B2 (en) 2005-08-10 2012-10-30 Bionic Power Inc. Methods and apparatus for harvesting biomechanical energy
US20080277943A1 (en) * 2005-08-10 2008-11-13 Donelan James M Method and apparatus for harvesting biomechanical energy
US20100276944A1 (en) * 2005-08-10 2010-11-04 Simon Fraser University Methods and apparatus for harvesting biomechanical energy
US7811189B2 (en) 2005-12-30 2010-10-12 Tibion Corporation Deflector assembly
US20070155557A1 (en) * 2005-12-30 2007-07-05 Horst Robert W Deflector assembly
US20070265711A1 (en) * 2006-05-09 2007-11-15 Otto Bock Healthcare Products Gmbh Internal socket and fitting system for a prosthesis
US7670385B2 (en) 2006-05-09 2010-03-02 Otto Bock Healthcare Gmbh Internal socket and fitting system for a prosthesis
CN100427047C (en) * 2006-06-14 2008-10-22 吉林大学 Automatic medical constant-force small splint
US20080071386A1 (en) * 2006-09-19 2008-03-20 Myomo, Inc. Powered Orthotic Device and Method of Using Same
US10758394B2 (en) 2006-09-19 2020-09-01 Myomo, Inc. Powered orthotic device and method of using same
WO2008036746A3 (en) * 2006-09-19 2008-07-10 Myomo Inc Powered orthotic device
WO2008036746A2 (en) * 2006-09-19 2008-03-27 Myomo, Inc. Powered orthotic device
US20090227925A1 (en) * 2006-09-19 2009-09-10 Mcbean John M Powered Orthotic Device and Method of Using Same
JP2010504167A (en) * 2006-09-19 2010-02-12 マイオモ インコーポレイテッド Power-operated straightening device
US8926534B2 (en) 2006-09-19 2015-01-06 Myomo, Inc. Powered orthotic device and method of using same
US8585620B2 (en) 2006-09-19 2013-11-19 Myomo, Inc. Powered orthotic device and method of using same
US9398994B2 (en) 2006-09-19 2016-07-26 Myomo, Inc. Powered orthotic device and method of using same
US8353854B2 (en) 2007-02-14 2013-01-15 Tibion Corporation Method and devices for moving a body joint
US20080195005A1 (en) * 2007-02-14 2008-08-14 Horst Robert W Methods and devices for deep vein thrombosis prevention
US9474673B2 (en) 2007-02-14 2016-10-25 Alterg, Inc. Methods and devices for deep vein thrombosis prevention
US8496715B2 (en) 2007-04-27 2013-07-30 Otto Bock Healthcare Lp Pneumatic connections for prosthetic socket
US8784348B2 (en) 2007-10-11 2014-07-22 Saebo, Inc. Splint assembly for positioning of the hand
US20090099492A1 (en) * 2007-10-11 2009-04-16 Saebo, Inc. Splint assembly for positioning of the hand
US8070702B2 (en) 2007-10-11 2011-12-06 Saebo, Inc. Splint assembly for positioning of the hand
US20100280423A1 (en) * 2007-12-28 2010-11-04 Panasonic Corporation Muscle force assisting device (as amended)
US20090204038A1 (en) * 2008-02-08 2009-08-13 Tibion Corporation Multi-fit orthotic and mobility assistance apparatus
US8052629B2 (en) 2008-02-08 2011-11-08 Tibion Corporation Multi-fit orthotic and mobility assistance apparatus
US8771210B2 (en) 2008-02-08 2014-07-08 Alterg, Inc. Multi-fit orthotic and mobility assistance apparatus
US20090306548A1 (en) * 2008-06-05 2009-12-10 Bhugra Kern S Therapeutic method and device for rehabilitation
US10179078B2 (en) 2008-06-05 2019-01-15 Alterg, Inc. Therapeutic method and device for rehabilitation
US8058823B2 (en) 2008-08-14 2011-11-15 Tibion Corporation Actuator system with a multi-motor assembly for extending and flexing a joint
US20100038983A1 (en) * 2008-08-14 2010-02-18 Kern Bhugra Actuator system with a motor assembly and latch for extending and flexing a joint
US20100039052A1 (en) * 2008-08-14 2010-02-18 Horst Robert W Actuator system with a multi-motor assembly for extending and flexing a joint
US8274244B2 (en) 2008-08-14 2012-09-25 Tibion Corporation Actuator system and method for extending a joint
US8016780B1 (en) * 2009-01-02 2011-09-13 George Sickles Orthopedic brace
US9131873B2 (en) 2009-02-09 2015-09-15 Alterg, Inc. Foot pad device and method of obtaining weight data
US8639455B2 (en) 2009-02-09 2014-01-28 Alterg, Inc. Foot pad device and method of obtaining weight data
US20100204620A1 (en) * 2009-02-09 2010-08-12 Smith Jonathan A Therapy and mobility assistance system
CN102387760B (en) * 2009-04-09 2015-06-10 国立大学法人筑波大学 Wearable motion assist device
WO2010117065A1 (en) * 2009-04-09 2010-10-14 国立大学法人筑波大学 Wearable motion assist device
JP2010240285A (en) * 2009-04-09 2010-10-28 Univ Of Tsukuba Wearable motion assisting device
US8998831B2 (en) 2009-04-09 2015-04-07 University Of Tsukuba Wearable type movement assisting apparatus
CN102387760A (en) * 2009-04-09 2012-03-21 国立大学法人筑波大学 Wearable motion assist device
US20120101596A1 (en) * 2009-06-23 2012-04-26 Otto Bock Healthcare Products Gmbh Method for setting up a control and technical orthopedic device
US11173055B2 (en) * 2009-06-23 2021-11-16 Otto Bock Healthcare Products Gmbh Method for setting up a control and technical orthopedic device
US20110282253A1 (en) * 2009-09-21 2011-11-17 Carlo Menon Wrist exoskeleton
US9757266B2 (en) 2010-06-01 2017-09-12 Saebo, Inc. Orthotic device
US8591599B1 (en) * 2011-01-07 2013-11-26 Infinite Biomedical Technologies, Llc Electrode assemblies for detecting muscle signals in a prosthetic liner
US9222468B2 (en) 2011-09-01 2015-12-29 Bionic Power Inc. Methods and apparatus for control of biomechanical energy harvesting
US8736087B2 (en) 2011-09-01 2014-05-27 Bionic Power Inc. Methods and apparatus for control of biomechanical energy harvesting
CN103112005A (en) * 2011-11-17 2013-05-22 财团法人精密机械研究发展中心 Gesture type mechanical arm
US9889025B2 (en) 2012-02-14 2018-02-13 Ossur Hf Vacuum assisted suspension system
US10617537B2 (en) 2012-02-14 2020-04-14 Ossur Hf Vacuum assisted suspension system
US9198780B2 (en) 2012-02-14 2015-12-01 Ossur Hf Vacuum assisted suspension system
US11058561B2 (en) 2012-04-30 2021-07-13 Ossur Hf Prosthetic device, system and method for increasing vacuum attachment
US11141294B2 (en) 2012-04-30 2021-10-12 Ossur Hf Prosthetic device, system and method for increasing vacuum attachment
US9044348B2 (en) 2012-04-30 2015-06-02 Ossur Hf Prosthetic device, system and method for increasing vacuum attachment
US9486335B2 (en) 2012-04-30 2016-11-08 Ossur Hf Prosthetic device, system and method for increasing vacuum attachment
US9072617B2 (en) 2012-04-30 2015-07-07 Ossur Hf Prosthetic device, system and method for increasing vacuum attachment
US9615946B2 (en) 2012-04-30 2017-04-11 Ossur Hf Prosthetic device, system and method for increasing vacuum attachment
US10369018B2 (en) 2012-04-30 2019-08-06 Ossur Hf Prosthetic device, system and method for increasing vacuum attachment
US9764190B2 (en) 2012-06-13 2017-09-19 Saebo, Inc. Dynamic hand splints
CN102848384A (en) * 2012-10-08 2013-01-02 常州汉迪机器人科技有限公司 Flexible actuator of robot system and robot system
US20140243721A1 (en) * 2013-02-28 2014-08-28 Marvin Frank Bryant Myoelectric hand orthosis
US9387112B2 (en) * 2013-02-28 2016-07-12 Marvin Frank Bryant Myoelectric hand orthosis
US9820873B2 (en) 2013-03-01 2017-11-21 Ossur Hf Vacuum suspension system
US9364348B2 (en) 2013-03-01 2016-06-14 Ossur Hf Vacuum suspension system
US11007105B2 (en) 2013-03-15 2021-05-18 Alterg, Inc. Orthotic device drive system and method
US9889058B2 (en) 2013-03-15 2018-02-13 Alterg, Inc. Orthotic device drive system and method
CN103315737B (en) * 2013-06-18 2015-04-15 上海交通大学 Wearable multi-channel surface electromyogram signal collecting armlet
CN103315737A (en) * 2013-06-18 2013-09-25 上海交通大学 Wearable multi-channel surface electromyogram signal collecting armlet
US9757256B2 (en) 2014-07-01 2017-09-12 Ossur Hf Pump mechanism for vacuum suspension system
US10729568B2 (en) 2014-07-01 2020-08-04 Ossur Hf Pump mechanism for vacuum suspension system
US11679012B2 (en) 2015-01-08 2023-06-20 Ossur Iceland Ehf Pump mechanism
US10028845B2 (en) 2015-01-08 2018-07-24 Ossur Iceland Ehf Pump mechanism
US10695198B2 (en) 2015-01-08 2020-06-30 Ossur Iceland Ehf Pump mechanism
US20160221181A1 (en) * 2015-01-29 2016-08-04 Airbus Operations Gmbh Support device for stabilizing a body part of a person
US10661434B2 (en) * 2015-01-29 2020-05-26 Airbus Operations Gmbh Support device for stabilizing a body part of a person
US11246725B2 (en) 2015-05-21 2022-02-15 Ossur Iceland Ehf Pump system
US10561508B2 (en) 2015-05-21 2020-02-18 Ossur Iceland Ehf Vacuum pump system with heel pump for a prosthetic leg
US9943421B2 (en) 2015-05-21 2018-04-17 Ossur Iceland Ehf Membrane pump system for use with a prosthetic system
US10179055B2 (en) 2015-05-29 2019-01-15 Ossur Iceland Ehf Pump system for use with a prosthetic device
CN113397779B (en) * 2015-06-15 2024-02-27 我自己的动作有限公司 Powered orthotic device
US11826275B2 (en) 2015-06-15 2023-11-28 Myomo, Inc. Powered orthotic device and method of using same
CN113397779A (en) * 2015-06-15 2021-09-17 我自己的动作有限公司 Powered orthotic device
US10413429B2 (en) 2015-08-27 2019-09-17 Ossur Iceland Ehf Pump system
US11357647B2 (en) 2015-08-27 2022-06-14 Ossur Iceland Ehf Pump system
US10245204B2 (en) 2015-09-11 2019-04-02 Ekso Bionics, Inc. Devices and methods for improving the utility of an exoskeleton mobility base
EP3146944A1 (en) * 2015-09-23 2017-03-29 Albrecht GmbH Wrist orthotic
US10195099B2 (en) 2016-01-11 2019-02-05 Bionic Power Inc. Method and system for intermittently assisting body motion
US11357691B2 (en) * 2016-02-15 2022-06-14 Lime Medical Gmbh Finger motion rail, support therefor and therapy device comprising same and operating method
US11759337B2 (en) 2016-05-25 2023-09-19 Scott MANDELBAUM Systems and methods for fine motor control of the fingers on a prosthetic hand to emulate a natural stroke
US10758379B2 (en) 2016-05-25 2020-09-01 Scott MANDELBAUM Systems and methods for fine motor control of fingers on a prosthetic hand to emulate a natural stroke
US11376139B2 (en) 2016-08-26 2022-07-05 Ossur Iceland Ehf Pump system
US10512554B2 (en) 2016-08-26 2019-12-24 Ossur Iceland Ehf Pump system
US11140969B2 (en) * 2016-11-09 2021-10-12 Randall Alley Load distribution systems and load carrying equipment
US10912667B1 (en) 2017-01-27 2021-02-09 George Sickles Orthopedic brace
WO2018158554A3 (en) * 2017-02-28 2018-10-25 Ambionics International Limited Prosthetic limb
EP3698765A4 (en) * 2017-10-20 2020-12-23 Panasonic Corporation Finger driving apparatus
US11779505B2 (en) 2017-10-20 2023-10-10 Keio University Finger exerciser
WO2019234707A3 (en) * 2018-06-08 2020-04-09 Epic Inventing, Inc. Prosthetic hand
US11534358B2 (en) 2019-10-11 2022-12-27 Neurolutions, Inc. Orthosis systems and rehabilitation of impaired body parts
US11690774B2 (en) 2019-10-11 2023-07-04 Neurolutions, Inc. Orthosis systems and rehabilitation of impaired body parts

Similar Documents

Publication Publication Date Title
US3631542A (en) Myoelectric brace
US3967321A (en) Electrically driven hand orthosis device for providing finger prehension
US4623354A (en) Myoelectrically controlled artificial hand
WO2009062198A3 (en) Neuromorphic controlled powered orthotic and prosthetic system
US20120059291A1 (en) Apparatus for manipulating joints of a limb
DE60037435D1 (en) Medical implant with wireless energy transmission
CN111631852A (en) Multifunctional splint fastening device for orthopedics department
WO2018090945A1 (en) Enhanced intelligent bionically-assisted mechanical leg for simulating neural electrical signal
RU171262U1 (en) FEMAL LINK OF AN ACTIVE FOOT ORTHOSIS
US20070276303A1 (en) Gripping Device and Method
ATE286763T1 (en) MEDICAL PLASTER
Mann Paper 15: Efferent and Afferent Control of an Electromyographic, Proportional-Rate, Force Sensing Artificial Elbow with Cutaneous Display of Joint Angle
CN211934790U (en) Exoskeleton device of lower limb rehabilitation robot
US20090306467A1 (en) Method to preserve and restore erectile function
CN111409060A (en) Lower limb load assisting exoskeleton capable of realizing rapid self-locking in standing state
Stern et al. Modular designed, wheelchair based orthotic system for upper extremities
Nickel et al. Synthetically powered orthotic systems
GB628958A (en) Improvements relating to artificial limbs
CN112223257A (en) Action control system of lower limb auxiliary instrument
Li et al. The prosthetic arm: A dramatic improvement for the limb amputation from the humerus
JPS60199450A (en) Power mount for lower limb disabled person
RU196167U1 (en) Exoskeleton Foot
CN218889902U (en) Upper limb rehabilitation exoskeleton robot for forearm rotation assistance
CN110037891A (en) Lower limb knee ankle recovery training appliance for recovery based on plantar pressure Gait Recognition
CN215535347U (en) Intelligent damping artificial limb with active bending function